[3.2.0] change the global path get logic ,all from datacenter to invoke

OCH/mogo-och-bus-passenger/src/jinlvvan/java/com/mogo/och/bus/passenger/model/BusPassengerModel.java

@@ -466,10 +466,6 @@ public class BusPassengerModel {
             if (autopilotStatusInfo == null) return;
             int state = autopilotStatusInfo.getState();
             if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING) {
-                //2022.7.20 自动驾驶更换成带档位的
-                if(state != mPreAutoStatus && null != routesResult){
-                    CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
-                }
                 if (mADASStatusCallback != null) mADASStatusCallback.onAutopilotRunning();
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
                 if(state != mPreAutoStatus){

OCH/mogo-och-charter-passenger/src/main/java/com/mogo/och/bus/passenger/model/CharterPassengerModel.kt

@@ -238,19 +238,6 @@ object CharterPassengerModel {
                     mAutoStatusChnageListener.forEach {
                         it.value.onAutoStatusChange(state)
                     }
-                    when (state) {
-                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
-                            RxUtils.createSubscribe {
-                                cleanRoutePoints()
-                                CallerLogger.d(M_BUS_P + TAG,"请求底盘轨迹")
-                                CallerAutoPilotControlManager.getGlobalPath()
-                            }
-                        }
-                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE -> {}
-                        IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_DISABLE -> {}
-                        IMoGoAutopilotStatusListener.STATUS_PARALLEL_DRIVING -> {}
-                        else -> {}
-                    }
                 }
             }
             override fun onAutopilotArriveAtStation(arrivalNotification: MessagePad.ArrivalNotification?) {

OCH/mogo-och-shuttle-passenger/src/m2/java/com/mogo/och/bus/passenger/model/PM2DrivingModel.kt

@@ -305,9 +305,6 @@ class PM2DrivingModel private constructor() {
 
                 }else{//自驾状态 2
                     mAutoStatusCallback?.updateAutoStatus(true)
-                    if (routesResult != null){
-                        CallerAutoPilotControlManager.getGlobalPath()
-                    }
                 }
                 mCurrentAutoStatus = status
             }
@@ -502,10 +499,6 @@ class PM2DrivingModel private constructor() {
     }
 
     fun dynamicCalculateRouteInfo(){
-        //如果轨迹点为空发送一次获取轨迹指令
-        if (mRoutePoints.size == 0){
-            CallerAutoPilotControlManager.getGlobalPath()
-        }
         //计算当前位置和下一站的剩余点集合
         //计算剩余点总里程和时间
         d(SceneConstant.M_BUS_P + TAG, "och-rotting==mTwoStationsRouts.size() = " + mTwoStationsRouts.size)

OCH/mogo-och-taxi-passenger/src/main/java/com/mogo/och/taxi/passenger/model/TaxiPassengerModel.java

@@ -531,8 +531,6 @@ public class TaxiPassengerModel implements IOCHTaxiPassengerNaviChangedCallback
                     // 当高频返回autopilot 2时，不重复调用订单状态变更
                     mPrevAPStatus = state; // 每个状态单独赋值，解决无订单时已经是2的状态导致的新订单来时无法进入此逻辑更新状态
                     startServicePilotDone();
-
-                    CallerAutoPilotControlManager.INSTANCE.getGlobalPath();
                 }
             } else if (state == IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_ENABLE) {
                 mPrevAPStatus = state;

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/adapter/MoGoAdasListenerImpl.kt

@@ -302,9 +302,6 @@ class MoGoAdasListenerImpl : OnAdasListener {
                 autopilotStatusInfo.state = autopilotState.state
                 autopilotStatusInfo.pilotmode = autopilotState.autopilotMode
                 autopilotStatusInfo.reason = autopilotState.reason
-                autopilotStatusInfo.camera = autopilotState.camera
-                autopilotStatusInfo.rtk = autopilotState.rtk
-                autopilotStatusInfo.radar = autopilotState.radar
                 autopilotStatusInfo.version = AdasManager.getInstance().adasVersion
                 if (autopilotStatusInfo.connectIP == null) {
                     autopilotStatusInfo.connectIP = AdasManager.getInstance().ipcConnectedIp

core/function-impl/mogo-core-function-datacenter/src/main/java/com/mogo/eagle/core/function/datacenter/autopilot/server/AsyncDataToAutopilotServer.kt

@@ -1,10 +1,24 @@
 package com.mogo.eagle.core.function.datacenter.autopilot.server
 
+import android.annotation.SuppressLint
+import com.mogo.eagle.core.data.autopilot.AutopilotStatusInfo
 import com.mogo.eagle.core.data.biz.trafficlight.TrafficLightResult
+import com.mogo.eagle.core.data.deva.chain.ChainConstant
+import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.datacenter.union.IMoGoTrafficLightListener
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
+import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.v2x.CallerTrafficLightListenerManager
+import com.mogo.eagle.core.utilcode.mogo.logger.CallerLogger
+import com.mogo.eagle.core.utilcode.mogo.logger.scene.SceneConstant
 import com.zhidao.support.adas.high.AdasManager
+import com.zhjt.service.chain.ChainLog
+import com.zhjt.service.chain.TracingConstants.Endpoint.Companion.PAD
+import io.reactivex.Observable
+import io.reactivex.android.schedulers.AndroidSchedulers
+import io.reactivex.disposables.Disposable
+import java.util.concurrent.TimeUnit
+import java.util.concurrent.atomic.AtomicInteger
 
 /**
  * @author xiaoyuzhou
@@ -14,7 +28,8 @@ import com.zhidao.support.adas.high.AdasManager
  * 异步同步数据给 Autopilot 控制器
  * 数据源（不限于）：OBU、网络等
  */
-class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListener {
+class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListener,
+    IMoGoAutopilotStatusListener {
     companion object {
         const val TAG = "AsyncDataToAutopilotServer"
         val INSTANCE: AsyncDataToAutopilotServer by lazy(mode = LazyThreadSafetyMode.SYNCHRONIZED) {
@@ -22,10 +37,41 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
         }
     }
 
+    private var mPreAutoStatus = AtomicInteger(-1)
+    private var createSubscribe: Disposable? = null
+
     fun initServer() {
+        CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerTrafficLightListenerManager.addListener(TAG, this)
     }
 
+    @SuppressLint("CheckResult")
+    override fun onAutopilotStatusResponse(autoPilotStatusInfo: AutopilotStatusInfo) {
+        super.onAutopilotStatusResponse(autoPilotStatusInfo)
+        val state = autoPilotStatusInfo.state
+        if (mPreAutoStatus.get() != state) {
+            mPreAutoStatus.set(state)
+            createSubscribe?.let {
+                if (!it.isDisposed) {
+                    bizLog(SceneConstant.M_ADAS_IMPL + TAG, "自动驾驶状态变化，取消前置轨迹请求，间隔2s重新请求底盘轨迹")
+                    createSubscribe?.dispose()
+                }
+            }
+
+            when (state) {
+                IMoGoAutopilotStatusListener.STATUS_AUTOPILOT_RUNNING -> {
+                    createSubscribe = Observable.timer(2000L, TimeUnit.MILLISECONDS)
+                        .observeOn(AndroidSchedulers.mainThread())
+                        .subscribe {
+                            bizLog(SceneConstant.M_ADAS_IMPL + TAG, "请求底盘轨迹")
+                            CallerAutoPilotControlManager.getGlobalPath()
+                        }
+                }
+                else -> {}
+            }
+        }
+    }
+
     override fun onTrafficLightStatus(trafficLightResult: TrafficLightResult) {
         var version = -1
         if (AdasManager.getInstance().carConfig != null) {
@@ -34,4 +80,16 @@ class AsyncDataToAutopilotServer private constructor() : IMoGoTrafficLightListen
         if (version > -1 && version < 290)
             CallerAutoPilotControlManager.sendTrafficLightData(trafficLightResult)
     }
+
+    @ChainLog(
+        linkChainLog = ChainConstant.CHAIN_LINK_LOG_WEB_SOCKET_AUTOPILOT,
+        linkCode = ChainConstant.CHAIN_LINK_ADAS,
+        endpoint = PAD,
+        nodeAliasCode = ChainConstant.CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_BIZ,
+        paramIndexes = [0, 1],
+        clientPkFileName = "sn"
+    )
+    private fun bizLog(tag: String, msg: String) {
+        CallerLogger.d(tag, msg)
+    }
 }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/business/ai/AiCloudIdentifyDataManager.kt

@@ -11,7 +11,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.business.ai.net.AiCloudIdentifyNetWorkModel.Companion.aiCloudIdentifyNetWorkModel
 import com.mogo.eagle.core.function.business.identify.MapIdentifySubscriber
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationWGS84ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -51,7 +50,6 @@ class AiCloudIdentifyDataManager : IMogoMapListener,
         MogoMapListenerHandler.mogoMapListenerHandler.registerHostMapListener(TAG, this)
         CallerAutoPilotStatusListenerManager.addListener(TAG, this)
         CallerPlanningRottingListenerManager.addListener(TAG,this)
-        CallerAutoPilotControlManager.getGlobalPath()
         MogoAiCloudSocketManager.getInstance(mContext)
             .registerOnMessageListener(
                 0x040003, //低频数据
@@ -166,8 +164,6 @@ class AiCloudIdentifyDataManager : IMogoMapListener,
         super.onAutopilotRouteLineId(lineId)
         if (lineId == 0L) {
             updateRomaStyle(true)
-        }else{
-            CallerAutoPilotControlManager.getGlobalPath()
         }
     }
 

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/smp/view/SmallMapView.kt

@@ -17,7 +17,6 @@ import com.mogo.eagle.core.data.map.MogoLocation
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotStatusListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Listener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
 import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotStatusListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
@@ -296,10 +295,10 @@ class SmallMapView @JvmOverloads constructor(
                     endLatLng.latitude, endLatLng.longitude,
                     currentLatLng.latitude, currentLatLng.longitude
                 )
-                CallerLogger.d(
-                    SceneConstant.M_MAP + TAG,
-                    "calculateDistance=$calculateDistance"
-                )
+//                CallerLogger.d(
+//                    SceneConstant.M_MAP + TAG,
+//                    "calculateDistance=$calculateDistance"
+//                )
                 if (calculateDistance <= 5) {
                     CallerLogger.d(
                         SceneConstant.M_MAP + TAG, "onChassisLocationGCJ02 ----->  calculateDistance <= 5 ")
@@ -325,8 +324,6 @@ class SmallMapView @JvmOverloads constructor(
             UiThreadHandler.post {
                 clearPolyline()
             }
-        } else if (tempStatus == 1 && autoPilotStatus == 0) {
-            getGlobalPath()
         }
         autoPilotStatus = tempStatus
     }

core/function-impl/mogo-core-function-map/src/main/java/com/mogo/eagle/core/function/view/OverMapView.kt

@@ -28,7 +28,6 @@ import com.mogo.eagle.core.function.api.autopilot.IMoGoChassisLocationGCJ02Liste
 import com.mogo.eagle.core.function.api.autopilot.IMoGoPlanningRottingListener
 import com.mogo.eagle.core.function.api.autopilot.IMoGoV2XListener
 import com.mogo.eagle.core.function.api.biz.IFuncBizProvider
-import com.mogo.eagle.core.function.call.autopilot.CallerAutoPilotControlManager.getGlobalPath
 import com.mogo.eagle.core.function.call.autopilot.CallerChassisLocationGCJ02ListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerPlanningRottingListenerManager
 import com.mogo.eagle.core.function.call.autopilot.CallerV2XListenerManager
@@ -414,8 +413,6 @@ class OverMapView @JvmOverloads constructor(
             }
         })
         CallerV2XListenerManager.addListener(TAG, this)
-        // 主动查一次全局路径规划的数据
-        getGlobalPath()
     }
 
     private fun setUpMap() {

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/autopilot/AutopilotStatusInfo.kt

@@ -56,21 +56,6 @@ open class AutopilotStatusInfo : Serializable, Cloneable {
      */
     var reason: String? = null
 
-    /**
-     * 摄像头状态 1代表开启，0代表关闭
-     */
-    var camera = 0
-
-    /**
-     * 雷达状态 1代表开启，0代表关闭
-     */
-    var radar = 0
-
-    /**
-     * RTK状态 1代表开启，0代表关闭
-     */
-    var rtk = 0
-
     /**
      * 底盘的自动驾驶状态 0非自动驾驶，1自动驾驶
      */
@@ -89,8 +74,8 @@ open class AutopilotStatusInfo : Serializable, Cloneable {
         return "connectIP=$connectIP, connectPort=$connectPort, " +
                 "connectStatus=$connectStatus, connectDescribe=$connectStatusDescribe, version=$version, dockVersion=$dockVersion," +
                 " locationStatus=$locationStatus), locationLat=$locationLat, locationLon=$locationLon," +
-                " satelliteTime=$satelliteTime, state=$state, reason=$reason, camera=$camera," +
-                " radar=$radar, rtk=$rtk, pilotmode=$pilotmode, ipcConnStatus=$ipcConnStatus, autopilotControlParameters=$autopilotControlParameters"
+                " satelliteTime=$satelliteTime, state=$state, reason=$reason, " +
+                " pilotmode=$pilotmode, ipcConnStatus=$ipcConnStatus, autopilotControlParameters=$autopilotControlParameters"
     }
 
     public override fun clone(): AutopilotStatusInfo {

core/mogo-core-data/src/main/java/com/mogo/eagle/core/data/deva/chain/ChainConstant.kt

@@ -60,7 +60,7 @@ class ChainConstant {
         const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_OBJECTS"
         const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_PLANNING_ACTIONS"
         const val CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP = "CHAIN_ALIAS_CODE_ADAS_STATUS_QUERY_RESP"
-        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_WARN = "PAD_ADAS_MESSAGE_AUTOPILOT_WARN"
+        const val CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_BIZ = "CHAIN_ALIAS_CODE_ADAS_MESSAGE_AUTOPILOT_BIZ"
 
         const val CHAIN_ALIAS_CODE_RECORD_NATIVE_LEAK = "CHAIN_ALIAS_CODE_RECORD_NATIVE_LEAK"
         const val CHAIN_ALIAS_CODE_RECORD_ANR = "CHAIN_ALIAS_CODE_RECORD_ANR"

core/mogo-core-function-api/src/main/java/com/mogo/eagle/core/function/api/autopilot/IMoGoAutopilotStatusListener.kt

@@ -13,7 +13,7 @@ import system_master.*
 interface IMoGoAutopilotStatusListener {
 
     /**
-     * 自动驾驶状态信息
+     * 自动驾驶状态信息 TODO 接口优化，拆分业务属性字段
      *
      * @param autoPilotStatusInfo 状态信息
      */